Modular autonomous farm vehicle

ABSTRACT

A modular autonomous agricultural vehicle includes a drive module having a frame, a ground-engaging element rotatably coupled to the frame, a power source, and a drive motor receiving power from the power source and coupled to the ground-engaging element for rotating the ground engaging element. At least one toolbar module is detachably coupled to the frame for coupling the drive module to an agricultural implement or another modular toolbar segment. The modular toolbar preferably includes multiple toolbar modules coupled to each other in series to form the modular toolbar.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/628,577, filed Feb. 23, 2015, now allowed, which claims priority toU.S. Provisional Patent Application Ser. No. 61/942,779 filed Feb. 21,2014, each of which is hereby incorporated by reference herein in itsentirety.

REFERENCE TO RELATED APPLICATION

This application is related to and claims priority to U.S. ProvisionalPatent Application Ser. No. 61/942,779 filed Feb. 21, 2014, and titled“Modular Autonomous Farm Vehicle,” which is incorporated herein in itsentirety.

FIELD OF THE INVENTION

The present invention relates to modular autonomous agriculturalvehicles.

BACKGROUND OF THE INVENTION

Considerable investments are ongoing to develop autonomous or roboticagricultural equipment, particularly for harvesting operations. Roboticmachines developed to date tend to be designed for specificapplications, e.g., specific crops, rather than general purpose devicesthat can be utilized in a wide variety of applications, including notonly different crops but also different field conditions and plantingpatterns.

SUMMARY OF THE INVENTION

In accordance with one embodiment, a modular autonomous agriculturalvehicle includes a drive module having a frame, a ground-engagingelement rotatably coupled to the frame, a power source, and a drivemotor receiving power from the power source and coupled to theground-engaging element for rotating the ground-engaging element; and atleast one toolbar module detachably coupled to the frame for couplingthe drive module to an agricultural implement or another toolbar module.One implementation includes multiple toolbar modules coupled to eachother in series to form a modular toolbar, and each of the toolbarmodules has the same width as one of the rows in an agricultural fieldto be worked. The adjacent toolbar modules may be coupled to each otherto permit pivoting movement of the adjacent modules relative to eachother, or to limit or prohibit the degree of pivoting movement of theadjacent modules relative to each other. The toolbar modules may carryground-engaging implements, with a cable extending through all thetoolbar modules to hold the modules together while allowing the toolbarto flex to follow the contour of the ground engaged by said implements.Alternatively, the modular toolbar may have a driveshaft extendingthrough the length of the toolbar and coupled to a drive motor on adrive module, for driving a driven module attached to the modulartoolbar and coupled to the driveshaft.

In one particular implementation, the ground-engaging elements aremounted for movement between an operating position in which theground-engaging elements are positioned for traversing an agriculturalfield, and a retracted position in which the ground-engaging elementsare positioned to make the vehicle more compact for stowage ortransporting. The ground-engaging elements may be pivotably coupled tothe frame of the drive module.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a side elevation of a toolbar module for use in forming atoolbar of any length from multiple modules interconnected by a pair oftensioning cables, and having a pair of side flanges for attaching themodule to a mating plate.

FIG. 1B is a rear elevation of the toolbar modules shown in FIG. 1Ahaving modified side flanges for connecting adjacent modules whilepermitting pivoting movement of the connected modules relative to eachother.

FIG. 1C is a top plan view of the toolbar module shown in FIG. 1B.

FIG. 2A is a rear elevation of a modified version of the toolbar modulesshown in FIG. 1B, for limiting pivoting movement of connected modulesrelative to each other.

FIG. 2B is a rear elevation of a further modified version of the toolbarmodule shown in FIG. 1B, for preventing pivoting movement of connectedmodules relative to each other.

FIG. 3A is a rear elevation of two of the toolbar modules show in FIG.2A coupled to each other.

FIG. 3B is a rear elevation of two of the toolbar modules shown in FIG.2A coupled to each other, and illustrating the maximum pivoting movementof the two modules relative to each other.

FIG. 4A is a rear elevation of six of the toolbar modules shown in FIG.2A coupled to each other in series, with each adjacent pair tiltedrelative to each to the maximum extent and in the same direction so asto form an overall arcuate configuration of the modular toolbar.

FIG. 4B is the same configuration of six toolbar modules shown in FIG.4A, but with different adjacent pairs tilted in different directions orby different amounts.

FIG. 5A is a side elevation of a modular toolbar carrying a planter rowunit.

FIG. 5B is a side elevation of a modular toolbar carrying a fertilizercoulter and a row cleaner.

FIG. 6A is a side elevation of a commodity hopper.

FIG. 6B is a side elevation of another commodity hopper.

FIG. 7A is a side elevation of toolbar module connected to a support fora commodity hopper.

FIG. 7B is a perspective view of multiple toolbar modules coupled toeach other in series, with each module also connected to a support for acommodity hopper.

FIG. 8 is a side elevation of two commodity hoppers mounted on a hoppersupport.

FIG. 9 is a perspective of a modular toolbar equipped with hoppersupports interconnected by a pair of cables.

FIG. 10 is a side elevation of a toolbar module connected to multipleplanter tools and commodity hoppers.

FIG. 11A is a front elevation of a pair of drive modules configured tobe attached to a first end of one or more toolbar modules.

FIG. 11B is a front elevation of a pair of drive modules configured tobe attached to a second end of one or more toolbar modules.

FIG. 12 is a front elevation of a drive module connected to a series ofinterconnected toolbar modules.

FIG. 13A is a front elevation of a modified drive module connected to aseries of interconnected toolbar modules.

FIG. 13B is a front elevation of another modified drive module connectedto a series of interconnected toolbar modules.

FIG. 14 is a front elevation of a series of interconnected toolbarmodules connected to a drive module having multiple wheels.

FIG. 15 is a front elevation of a series of interconnected toolbarmodules connected to a drive module having a drive shaft extendingthrough the length of the toolbar for driving a wheel on a drivenmodule, partially sectioned to show the drive shaft.

FIG. 16 is a front elevation of a toolbar formed from multiple toolbarmodules and connected at opposite ends to drive modules on terrainhaving a curved cross section.

FIG. 17 is a front elevation of a toolbar formed from multiple toolbarmodules and connected at opposite ends to drive modules on terrainhaving a flat surface, with distance sensors on the bottoms of thetoolbar modules.

FIG. 18 is an electrical schematic diagram of an electrical system foran autonomous agricultural vehicle.

FIG. 19A is a front elevation of a modular toolbar attached at oppositeends to a pair of drive modules having vertically adjustable wheels,with the wheels shown in a raised position.

FIG. 19B is a front elevation of the same assembly shown in FIG. 19Awith the wheels shown in a lowered position.

FIG. 20A is a front elevation of a modular autonomous agriculturalvehicle having the wheels of the drive modules on axes parallel to theaxis of the toolbar, with the wheels in an inboard position.

FIG. 20B is a front elevation of a modular autonomous agriculturalvehicle having the wheels of the drive modules on axes parallel to theaxis of the toolbar, with the wheels shown in an outboard position.

FIG. 21A is a top plan view of a modular autonomous agricultural vehiclehaving the wheels of the drive modules on articulated supports, with thewheels shown in a first position.

FIG. 21B is a top plan view of a modular autonomous agricultural vehiclehaving the wheels of the drive modules on articulated supports, with thewheels shown in a second position.

DETAILED DESCRIPTION OF ILLUSTRATED EMBODIMENTS

The design of the tractor-less autonomous farm vehicles described beloware “modular” because the frame is made from two or more modules. Forexample, different types and sizes of toolbars can be formed frommultiple toolbar modules, which in turn can be coupled to drive modulesthat include both a power source and ground-engaging wheels or tracksdriven by the power source. The width of the vehicle is thereforeadjustable and can be sized for different needs by coupling differentnumbers of the modules to each other in different configurations. In oneembodiment, the modules are coupled to each other with a single largediameter bolt that is very long and simultaneously spans all themodules.

Frame section modules define the row spacing with their width and alsoprovide support to commodity modules and guide mechanical shafts thatcan extend through multiple modules. Frame-mounted attachments, such aslike the Dawn ZRX zone roller or the Dawn CFX fertilizer opener, can bemounted directly to the frame section modules. Commodity modules, suchas hoppers or tanks that clip onto quick attachment clips on framesection modules, can carry dry fertilizer or seed or fluid materialssuch as liquid fertilizers. The modules can be in widths as narrow as asingle row or frame section, or span across multiple rows when a farmerwants to create different patterns of seed and fertilizer throughdifferent fields. Different patterns may be desired for side dress,cover crop inter-row seeding, or growing arbitrary row by row patternsof different types of crops. For example, a farmer might want to plant arow of corn, then a row of soybeans and so on. The frame sections canhave any number of quick attachments for different commodity modules, sothat different combinations of cover crop medleys and mixtures of seedand fertilizer can be created. Hoses carry seed and fertilizer from thecommodity modules to the seeding and fertilizing row units.

Implements are mounted to the frame section modules via an implementsection module. These modules make it easy to make further modularsystems where the same general frame setup can be converted from planterunit to tillage unit, to side dress fertilizer coulter, etc. Theimplement section modules can have different offset lengths so as toallow changes in stagger and position of row units next to adjacent rowunits.

The drive modules are typically the end modules, which have two track orwheel assemblies connected via link arms to a support structure that isattached to opposite sides or ends of a modular frame or toolbar. Toprovide weight for traction over the drive system, the drive motor,whether electric or diesel, may be located directly over the tracks orwheels on the drive modules. A machine may have only one motor eventhough there are two or more drive modules. The frame modules have holesthrough them, preferably with support bearings, that allow for thetransmission of power from a drive module on one end to a drive moduleon another end via a drive shaft. The drive module also preferably hasthe tracks or wheels on a linkage that can pivot, and the tracks orwheels can also preferably pivot to steer. This allows the track orwheel assemblies to extend and rotate to become narrower for transporton the road or to be transported on a trailer. Each drive modulepreferably has a GPS receiver centered on the track center line.Multiple GPS receivers allow the direction and pitch of the vehicle tobe accurately monitored.

FIGS. 1A, 1B and 1C illustrate examples of frame section modules in theform of toolbar modules, each of which can be a toolbar module that canbe coupled to similar modules to construct a customizable framework forrow crop tools and related items such as commodity hoppers for seed andfertilizer.

FIG. 1A illustrates a toolbar module that has a pair of tool-mountingside flanges 10 and 11, as an alternative to U-bolt fastened tools. Topand bottom flanges 12 and 13 include large apertures 12 a and 13 a forcoupling the module to large diameter cables or rods that run the fulllength of a modular toolbar through the apertures of all the individualmodules forming the toolbar. Actuators at both ends of the toolbar, onthe drive modules, apply appropriate tension to the cable thatinterconnects the modules, and allows the toolbar to conform to thecurvature of the terrain engaged by the wheels or tracks in the drivemodules, as described in more detail below.

FIGS. 1B and 1C illustrate a toolbar module that has top and bottomflanges 14 and 15 similar to those of the module shown in FIG. 1A. Theside flanges 16 and 17, however, are much wider side flanges 16 and 17to allow for relative pivoting movement of adjacent modules relative toeach other, as described in more detail below. The overall width of thismodule is preferably the same as a standard field row width, e.g., 15″,20″, 22″, 30″ etc., so there is one module for each row of the farmfield being worked. As can be seen in the top plan view in FIG. 1C, theflanges 16 and 17 are laterally offset from each other so that theflanges of adjacent modules can slide over and register with each other.Then the overlapping flanges of adjacent modules can be connected with asingle large-diameter pivot pin or bolt, which permits pivoting movementof the two modules relative to each other, around the axis of theconnecting pin or bolt. The use of toolbar modules also provides theability to vary row width by either direct mechanical means, or throughthe use of automated, or manually adjustable actuators and/or fasteners.

The toolbar module shown in FIG. 1B allows large angular displacementsof the module (off horizontal) relative to adjacent modules to whichthis module is connected, so that the modules in a toolbar canarticulate relatively freely. FIG. 2A illustrates a modified toolbarmodule 20 that includes mechanical stops 21 a, 21 b and 22 a, 22 b thatlimit such relative angular displacements to prevent excessive toolbarcurvature. FIG. 2B illustrates a further modified module 23 that allowsvirtually no such displacements because adjacent modules are rigidlyfixed together by bolting end plates 24 and 25 to overlapping end plateson adjacent modules.

FIGS. 3A and 3B illustrate the restricted displacement permitted whentwo modules 31 and 32 with the design shown in FIG. 2A are connected toeach other. FIG. 3A shows the gaps θ and φ that exist between the twomodules when there is no relative displacement, and FIG. 3B shows themaximum increased gap φ attainable when the two modules 31 and 32 aretilted in opposite directions. The mechanical stops φ the adjacentmodules prevent the toolbar from exceeding a curvature that would impairthe ability of the implements attached to that toolbar from adequatelyperforming a field operation.

FIGS. 4A and 4B illustrate the articulation permitted by a toolbar 40formed by a series of the toolbar modules shown in FIGS. 3A and 3B. InFIG. 4A, the toolbar 40 has a constant curvature along its entirelength, as would be desirable when the implements carried by the toolbarare traversing a hill in a farm field. In FIG. 4B, the left portion ofthe toolbar is curves downwardly and the right portion curves upwardly,as would be desirable when the implements carried by the toolbar aretraversing terrain having that same contour. As described in more detailbelow, the toolbar 40 shown in FIGS. 4A and 4B may employ a tensioningcable system to regulate the forces on the toolbar from row to row toallow individual rows to closely follow ground contours, by ensuringthat the median plane of the row unit remains orthogonal to the nominalsurface of the ground contacting the gauge wheels.

FIG. 5A illustrates a modular toolbar 50 carrying a planter row unit 51that includes both furrow-opening and furrow-closing wheels 52 and 53attached to the trailing side of the toolbar. FIG. 5B shows the sametoolbar 50 with a fertilizer coulter 54 attached to one side of thetoolbar 50 and a row cleaner 55 attached to the opposite side of thetoolbar.

FIGS. 6A and 6B illustrates a pair of commodity hoppers 61 and 62adapted to be attached to hopper supports on a modular toolbar. Themodular hoppers 61 and 62 are suitable for carrying, for example, seedand granular fertilizer.

FIGS. 7A and 7B illustrate a segment of a modular toolbar 70 of the typeillustrated in FIGS. 4A and 4B, equipped with a pair of hopper supports71 and 72 for receiving the hoppers 61 and 62 shown in FIGS. 6A and 6B.The hoppers, of course, may have a variety of different configurationsfor various seed, fertilizer and pesticide commodities.

FIG. 8 illustrates the hoppers 61 and 62 of FIGS. 6A and 6B installed onthe supports 71 and 72 shown in FIGS. 7A and 7B. A pair of bolts 81 and82 fasten the bottom corners of the hoppers 61 and 62 to the upperportions of the respective supports 71 and 72, and a pivoting link 83 isbolted to the upper portions of the two hoppers to connect them to eachother.

FIG. 9 illustrates a modular toolbar formed from multiple modules 70equipped with multiple hopper supports 71, with a pair of cables 91 and92 extending through registered apertures in the toolbar modules 70 andthe hopper supports 71, respectively.

FIG. 10 illustrates a complete modular planter row unit that includesthe modular toolbar 70 of FIG. 9 equipped with the supports 71 fastenedto the hoppers 61 and 62, and all the row unit implements shown in FIGS.5A and 5B.

The modular systems described above require an engine to provide bothdirect mechanical motion, and to serve as a power source for bothelectric and hydraulic tool systems. FIG. 11A illustrates a drive module110 that includes such an engine 111, which drives both a power plant117 for generating electrical power, as well as the wheels 112 on boththe drive module 110 and a “driven” module 113 shown in FIG. 11B. Thedriven module 113 includes a fuel tank 114 in place of the engine 111.The driver module 110 delivers power through the modular toolbar bydirect mechanical drive, or by electric cable, or by hydraulic hose.

The “driven” module 113 preferably includes a generator/alternator 120and associated battery pack. The generator uses fuel to generate DCelectrical power for storage in the battery pack. Alternatively, analternator may be driven by the engine to produce AC electrical currentthat is rectified for storage in the battery pack.

Driver modules deliver power through the toolbar segments by directmechanical drive, or by electric cable, or by hydraulic hose.Alternatively, these modules may be driven entirely by electric motors.Fuel tanks are replaced by large battery packs.

It will be understood that the wheels 112 in both modules could bereplaced with ground-engaging tracks. In either case, theground-engaging elements (wheels or tracks) are mounted to permitpivoting over 90° to allow the attached toolbar to closely follow fieldcontours, and to allow for simple loading of the toolbar onto a trailerfor relocation to a different field.

In FIGS. 11A and 11B, each wheel 112 is journaled on the lower end of asupport rod 115 whose upper end is pivotably coupled to the frame toform a primary pivot 116 for the corresponding wheel 112. The axisaround which each support arm 115 pivots is located directly above themiddle of the wheel, to place the center of gravity directly over thecenter of the wheel base. The lower portion of each support arm 115 alsoincludes a secondary pivot 117 that provides the corresponding wheel 112an additional degree of freedom to allow for greater mobility in thefield. This secondary pivot 117 allows the wheel 112 to pivot 90° fromits normal outboard field position to a retracted inboard position, forloading and transport purposes.

The drive module 110 also includes a hydraulic pump 118 to supplyhydraulic actuators, both on the toolbar itself and in the row unitscarried by the toolbar. For example, the down pressure on eachground-engaging element of a planter row unit can be controlled by aseparate hydraulic actuator. The frame of the drive module includes anattachment plate 119 for attaching the drive module 110 to a modulartoolbar.

FIG. 12 illustrates the drive module attached to a modular toolbar viathe attachment plate 119, which is detachable from the drive module toenable the user to easily change attachment brackets for different typeof toolbar modules. Also connected to the drive module 100 are tensioncables 121 and 122 that control the toolbar arc.

FIG. 13A illustrates a drive module like the one shown in FIG. 12 exceptthat the support arm 115 is attached to the inboard side of the wheel112 rather than the outboard side, so the wheel is spaced farther awayfrom the end of the modular toolbar.

FIG. 13B illustrates a drive module equipped with wide tracks 130,instead of wheels, as the ground-engaging drive elements. Differenttracks and wheel modules may be quickly coupled to the axle driveshafts. Internal drive shafts deliver differential power to the wheelsor tracks and are able to rotate on both pivots 116 and 117 to allow forproper distribution of force from the toolbar around corners and overother irregularities in the field (e.g., terraces, waterways, etc.). Thedrive shaft runs through the wheel supports 115, with bevel gears ateach bend allowing for the transmission of power through the full rangeof motion.

FIG. 14 illustrates a drive module that has two wheels 141 and 142suspended from a single support arm 142. FIG. 14 shows the two wheels intheir stowed position, but by turning the support arm 90° the wheels arepivoted to their operating position. The wheels may be aligned with eachother in the direction of travel, or they may be laterally offset fromeach other by one or more row widths.

FIG. 15 illustrates a modular toolbar having a transverse drive shaftextending through the entire length of the toolbar, which allows for thetransfer of power by direct mechanical means through the toolbar from adrive module equipped with a motor at one end of the toolbar to a drivenmodule that has no motor, but does have tracks or wheels and othercomponents that require engine power. The cutaway 150 shows a driveshaft151 running through cavities located inside the toolbar modules. Thisdriveshaft 151 may be either a single shaft, or several shaftsmechanically coupled together to allow for limited drive shaftflexibility. A modular junction 152 permits a joint at the transfer caseof the engine to be coupled to the transverse driveshaft 151. Heavy dutybearings 153 equipped with rotary encoders support the transversedriveshaft 151 and can provide feedback information to the drive modulecontrollers.

FIG. 16 illustrates a complete modular toolbar 160 with high traveltoolbar modules 161 and/or with transverse tension cables 162 and 162.This illustration shows the implementation of a tension cable, or rod,that changes tension depending on ground contours. Here, z₁-z_(n)represent the median planes of a series of row crop tools, shown here asplanter row units 164, and y₁-y_(n) identifying axis lines orthogonal tothe corresponding median planes z planes. The axis lines are alsotangent to the nominal surface of the ground over a distance “d.”Actuators located on the drive modules apply additional strain or relaxthe tension cables. Relaxing the tension cable allows the median planeof the row unit to remain perpendicular to an idealized line tangent tothe curve of the ground across the bottom of the gauging member of therow unit.

FIG. 17 illustrates a complete modular toolbar 170 with high traveltoolbar modules 171, transverse tension cables 172 and 173, and a. GPSantenna 174 on at least one of the drive modules 175 and 176 attached toopposite ends of the tool bar. The GPS antenna is used to ensure thatthe drive modules closely follow the planned course. An actuator 177 onthe drive module 176 controls the tension on the cables 172 and 173.Attached to the bottom of each toolbar module 171 is a distance sensor178 that includes an integral amplifier and remote telemetry unit(“RTU”). Each distance sensor 178 detects the distance from the bottomof the toolbar module to the ground, and sends information via its RTUto a master telemetry controller (“MTU”). Signals sent to the MTU areprocessed and sent to the actuator 177 to control the force on thetension cables 172 and 173.

FIG. 18 is a schematic diagram of an exemplary electrical system for anautonomous vehicle such as those illustrated in FIGS. 17A and 17B,equipped with an array of sensors 181 a . . . 181 n-1, 181 n configuredso that they can receive real-time information regarding variables suchas relative position, roll, pitch, yaw, vertical and longitudinalacceleration, system pressure, and applied force from associatedactuators. The system also includes a GPS receiver 182, a contour maplibrary 183, contour and steering actuators 184 and 185, localconditioners/amplifiers, processers, and their associated actuators. Allthese elements interface with an implement or vehicle master telemetryunit (MTU) 186.

The MTU 186 communicates with multiple remote telemetry units (RTUs) 187a . . . 187 n-1, 187 n, each of which receive signals from multiplesensors 1 . . . m, 1 . . . n or 1 . . . p and transmits signals tomultiple actuators 1 . . . m, 1 . . . n or 1 . . . p.

All information streaming from the various sensors may be logged andstored in either a local library 188 or a cloud-based library 189, via ahuman machine interface (HMI) or supervisory control (SCADA) for use inpost-operation analytics. Additionally, information from previous yearsmay be used for control algorithms in subsequent years.

To accommodate expansion or reduction of the number of rows, all toolsattached to a particular toolbar module have an associated, local RTUwhich may include power supplies for module sensors, amplifiers forsensor signals, processors for control algorithms, and controller areanetwork (CAN) communication, either hard wired or equipped with RFtransceivers for communication with the implement MTU. The MTU sends andreceives information via RF transceivers, typically using Bluetooth.Protocols to ease communication with an existing Bluetooth-enableddevice such as a mobile phone, mobile wearable device (e.g.,smart-watch, smart-glasses) tablet computer or laptop computer.

The HMI is typically an existing mobile device, equipped with RFtransceivers suitable for local communication, and all implement setupprocedures, operational controls, diagnostics, and in some casesreal-time analytics may be viewed, and governed by, that mobile device.The user has the option to store incoming CAN information locally, or totransmit that data for storage on a cloud-based server.

The individual row modules (RTUs) themselves may also possess some ofthe capabilities of the MTU/HMI control system. Some systems may benefitfrom the complete decentralization of the computing system. In theseinstances, one or more RTUs behave as a master unit, and other RTUsreport to the master RTU for communication with the HMI, or othersupervisory controller.

An individual RTU will be associated with one or more of a row module'ssensors and/or actuators. In some cases the information collected from asingle sensor will be conditioned, and processed for delivery to asingle actuator. In other instances, multiple sensors may have theirstatus sampled, and operated on, to provide a driver signal for a singleactuator. There are also some actuators that benefit from the collectionof data received from multiple sensors, to be operated on, andsuperposed to generate a hybrid signal that controls one or moreactuators.

In addition to the standard RTUs found on the row unit modules, thepower plant/tractor modules will also have an associated RTU. Like therow unit module RTUs, these computers control the activity of the powerplant/tractor drive modules. They receive information from local sensorson the module, as well as information streaming in from the implementCAN and/or the cloud and/or some other local library, such as GPScoordinates, vehicle pitch, or forward velocity. Plant/tractor RTUs aredevoted to the control of tractor actuators for steering, and for forceadjustments on the tensioning rods discussed above.

Sensors located on each row module are surveyed via the implement CANand are processed by either a RTU acting as a master controller, or inthe implement MTU. Information from these units and existing maps in anavailable library, and GPS information, allow the plant/tractor RTUcontrol the steering actuators, the throttle control actuators and brakeactuators. These RTUs also house collision avoidance sensors, and haveprocesses to compensate for in-field inanimate obstacle detection, andcomplete operation shutdown should sensors detect any sign of an animateobstacle in the field. Such stereoscopic sensors may include any of avariety of specialized laser range finders (e.g., Lidar) or specializedultrasonic rangefinders, or other sensors which give real-time feedbackof three-dimensional objects.

FIGS. 19A and 19B illustrate a modular toolbar attached to a pair ofdrive modules with a rod 190 extending between the two drive modules,along the top of the toolbar. The wheels of the two drive modules arejournaled on the lower ends of a pair of vertical rods 191 and 192attached at their upper ends to opposite ends of the transverse rod 190.The rods 191 and 192 pass through the wheel-support arms of therespective drive modules, which permits the rods 191 and 192 to be movedvertically through the drive modules, thus permitting the wheels to bemoved vertically relative to the toolbar, which is attached to theframes of the two drive modules. FIG. 19A illustrates the wheels intheir fully lowed position, and FIG. 19B illustrates the wheels in theirfully raised position. In addition, a series of parallel rods 193A-193Fare attached to at their upper ends to the transverse rod 190, so thatthe rods 193A-193F move vertically along with the rods 191 and 192. Eachof the rods 193A-193F passed through a sleeve 194 attached to one of thetoolbar modules, and the lower end of each rod carries a frame 195 thatcan be attached to one or more farm implements, so that the elevation ofthose implements will remain constant relative to the elevation of thewheels.

FIGS. 20A and 20B illustrate a modular toolbar attached to drive modulesat both ends. Each drive module carries a single wheel 201 or 202journaled on the lower end of respective support arms 203 and 204 havingswiveling vertical sections that can be turned 180 degrees to move therespective wheels between stowed positions illustrated in FIG. 20A andan operating position illustrated in FIG. 20B.

FIGS. 21A and 21B illustrate a modular toolbar attached to drive modulesat both ends. Each drive module carries a pair of wheel 213, 214 or 215,216 journaled on the lower ends of respective support arms 217, 218, 219and 220 via respective links 221, 222, 223 and 224. FIG. 21A shows thewheels in their operating, outboard positions, and FIG. 21B shows thewheels in their stowed, inboard positions. It can be seen that theaddition of the links 221-224 permits the wheels to be retracted to amore compact configuration.

One or more currently preferred embodiments have been described by wayof example. It will be apparent to persons skilled in the art that anumber of variations and modifications can be made without departingfrom the scope of the invention as defined in the claims.

The invention claimed is:
 1. A modular autonomous agricultural vehiclecomprising at least one drive module having a frame, a rotatableground-engaging element coupled to said frame, a power source, and adrive motor receiving power from said power source and coupled to saidground-engaging element for rotating said element, and multiple toolbarmodules coupled to each other in series to form an elongated modulartoolbar having a selected length, at least one of said toolbar modulesdetachably coupled to said frame of said drive module, said elongatedmodular toolbar extending horizontally from said drive module along thelength of the elongated modular toolbar for coupling said drive moduleto an agricultural implement or another modular toolbar module, whereineach of said multiple toolbar modules is a separate element from said atleast one drive module, wherein said ground-engaging element is mountedon said frame for movement around a vertical axis for controlling thedirection of movement of both the drive module and the elongated modulartoolbar, a driveshaft extending through the length of said elongatedmodular toolbar and coupled to said drive motor, and a driven moduleattached to said modular toolbar and coupled to said driveshaft.
 2. Themodular autonomous agricultural vehicle of claim 1 in which each of saidtoolbar modules has the same width as one of the rows in theagricultural field to be planted.
 3. The modular autonomous agriculturalvehicle of claim 1 in which said drive module includes at least two ofsaid ground-engaging elements.
 4. The modular autonomous agriculturalvehicle of claim 3 in which said ground-engaging elements are selectedfrom a group consisting of wheels and articulated tracks.
 5. The modularautonomous agricultural vehicle of claim 3 in which said ground-engagingelements are mounted for movement between an operating position in whichthe ground-engaging elements are positioned for traversing anagricultural field, and a retracted position in which theground-engaging elements are positioned to make the vehicle more compactfor stowage or transporting.
 6. The modular autonomous agriculturalvehicle of claim 1 in which adjacent toolbar modules are coupled to eachother to permit pivoting movement of said adjacent modules relative toeach other.
 7. The modular autonomous agricultural vehicle of claim 6 inwhich said coupling of adjacent toolbar modules limits the degree ofpivoting movement of those modules relative to each other.
 8. Themodular autonomous agricultural vehicle of claim 1 in which said toolbarmodules include hoppers for carrying commodities.
 9. The modularautonomous agricultural vehicle of claim 1 in which said toolbar modulesinclude support brackets adapted to be secured to hoppers for carryingcommodities.
 10. The modular autonomous agricultural vehicle of claim 1in which said ground-engaging element is pivotably coupled to said frameof said drive module.
 11. The modular autonomous agricultural vehicle ofclaim 1 in which said drive module includes an attachment plate forcoupling said drive module to said modular toolbar.
 12. A modularautonomous agricultural vehicle comprising at least one drive modulehaving a frame, a rotatable ground-engaging element coupled to theframe, and a drive motor coupled to the ground-engaging element forrotating the ground-engaging element; multiple toolbar modules coupledto each other in series to form an elongated modular toolbar having aselected length, at least one of the toolbar modules detachably coupledto the frame of the drive module; and a driveshaft coupled to the frameof the drive module, the driveshaft extending through the length of theelongated modular toolbar, wherein: the ground-engaging element ismounted on the frame for movement around a vertical axis for controllingthe direction of movement of both the drive module and the elongatedmodular toolbar, and the frame of the drive module does not moverelative to the driveshaft.
 13. The modular autonomous agriculturalvehicle of claim 12, wherein the ground-engaging element is mounted formovement between an operating position in which the ground-engagingelement is positioned for traversing an agricultural field, and aretracted position in which the ground-engaging element is positioned tomake the vehicle more compact for stowage or transporting.
 14. Themodular autonomous agricultural vehicle of claim 12, wherein the atleast one drive module includes a first drive module attached to a firstend of the elongated modular toolbar, and a second drive module attachedto a second end of the elongated modular toolbar.